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2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Li, Xiaohui Yu, Xiaoyue Zhou, Hao Jin, Dingxun Li, Guanglin Wang, Lin CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems China University of Chinese Academy of Sciences China Shenzhen Lower Limb Rehabilitation Intelligent Aids Engineering Research Center China Shenzhen Technology University China Southern University of Science and Technology China SIAT Branch Shenzhen Institute of Artificial Intelligence and Robotics for Society China

ISBN: (纸本)9781665481090

The field of rehabilitation robotics has emerged as a prominent area of research in the medical community in recent years, offering innovative and promising solutions for patients with physical disabilities. The existing lower limb rehabilitation robots have some shortcomings in human-machine compatibility and motion synergy due to the limitation of the real-time human motion intention recognition. In this paper, an instant motion recognition of the lower limb was proposed using surface electromyography (sEMG) for significantly shortening the time delay between the robot motion and the actual human motion. The first 200ms data of the complete sEMG signal for a single motion cycle was employed in the recognition algorithm. The proposed recognition algorithm demonstrated superior accuracy compared to traditional machine learning methods. The accuracy of 9-class recognition was 94.32%, while 12-class recognition achieved that of 89.32%. A data augmentation method based on magnitude warping followed by shifting was employed to enhance recognition accuracy by 11.37% in 9-class recognition and 19.23% in 12-class recognition when comparing with no augmentation. The optimal results for motion recognition were observed when the first 200ms data of the complete sEMG signal for a single motion cycle with a duration of 1.0s were utilized, as evidenced by comparative results. The proposed method offers a novel approach to enhancing human-machine compatibility and comfort in the application of lower limb rehabilitation robots in the future. © 2024 IEEE.

关键词： Convolutional neural networks

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Experimental Characterization and Comparison of Three Typical Omnidirectional Mobile Robots

Experimental Characterization and Comparison of Three Typica...

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International Conference on Advanced robotics and Mechatronics (ICARM)

作者： Zhuolun Li Jiajun Long Ximan Zhang Chengyuan Gao Shixing Jiang Zheng Zhu Zhenzhong Jia Department of Mechanical and Energy Engineering Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and Technology (SUSTech) Shenzhen China

Omnidirectional vehicles (ODVs) or mobile robots are widely used in various industries due to their ability to move and rotate in narrow spaces without the need for multiple adjustments of moving direction or stopping. There are multiple types of ODVs, including those with standard wheels and those with special wheels such as Swedish wheels. Comprehensive characterization of the ODV's overall performance, which is very important when selecting specific configurations in the robot design process, is still missing in the literature. This paper qualitatively summarizes the comprehensive characteristics of three typical omnidirectional mobile robots in indoor scenarios through theoretical analysis and physical experiments. We compare the robot's performance through six representative evaluation metrics (maneuverability, efficiency, etc.) and express the results in a radar chart. The results of this study can assist designers in designing omnidirectional robots more effectively for specific application scenarios.

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Dynamic Identification for a Manipulator Model based on Stribeck Friction using the Quasi-Newton Iterative Method

Dynamic Identification for a Manipulator Model based on Stri...

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2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Xiao, Feng Zhang, Feilong Han, Bing Zhang, Hualiang Shenyang University of Technology School of Information Science and Engineering Shenyang110870 China University of Chinese Academy of Sciences Beijing100049 China Shenyang Institute of Automation Chinese Academy of Sciences Key Laboratory of Networked Control Systems Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China School of Mechanical Engineering Zhejiang University State Key Laboratory of Fluid Power and Mechatronic Systems Hangzhou310027 China

ISBN: (纸本)9798350325706

The performance of dynamic control is intimately tied to modeling accuracy. However, traditional estimation methods and friction models, such as the least squares method and the Coulomb plus viscous model, fail to reflect the actual characteristics accurately. Particularly, the linear nature of the Coulomb plus viscous model overlooks the nonlinear static features of joint friction at slower velocities. To improve the rationality of the model structure, we integrate the Stribeck friction model into the Coulomb plus viscous model. However, introducing such nonlinearities compromises the applicability of the least squares method. As a countermeasure, we propose a new strategy that combines the least square method and the Quasi-Newton iterative method to identify the parameters of the modified nonlinear model. Additionally, the design of the excitation trajectory is critical to achieve high identification accuracy. We utilized the inverse of the smallest singular value of the observation matrix as the objective function. By minimizing it with the interior point method, we generate the excitation trajectory well-suited to stimulate dynamic characteristics. Then we leverage the discrepancies between the measured and estimated torques to assess the precision of the dynamic parameters of the manipulator. Remarkably, our proposed algorithm reduces the mean absolute error of the estimated torque by over 20.40%. Finally, an experiment of the industrial manipulator by hand guiding grab and drag is performed and shows that the proposed approach can provide the manipulator with comprehensive torque compensation. © 2023 IEEE.

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Hydrogel-elastomer-based stretchable strain sensor fabricated by a simple projection lithography method

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International Journal of Smart and Nano Materials 2021年第3期12卷 256-268页

作者： Zhenqing Li Xiangnan He Jianxiang Cheng Honggeng Li Yuan-Fang Zhang Xiaojuan Shi Kai Yu Hui Ying Yang Qi Ge Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy EngineeringSouthern University of Science and TechnologyShenzhenChina Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and TechnologyShenzhenChina Digital Manufacturing and Design Centre Singapore University of Technology and DesignSingapore Department of Mechanical Engineering University of Colorado DenverDenverCOUSA National Key Laboratory of Science and Technology on Advanced Composites in Special Environments Harbin Institute of TechnologyHarbinP.R.China

Stretchable strain sensor detects a wide range of strain variation and is therefore a key component in various *** traditional ones made of elastomers doped with conductive components or fabricated with liquid conductors,ionically conductive hydrogel-based strain sensors remain conductive under large deformations and are ***,dehydration is a challenging issue for the *** have developed hydrogel-elastomer-based strain sensors where an elastomer matrix encapsulates a hydrogel circuit to prevent its ***,the reported multistep approaches are generally *** group recently reported a multimaterial 3D printing approach that enables fast fabrication of such sensors,yet requires a self-built digital-light-processing-based multimaterial 3D ***,we report a simple projection lithography method to fabricate hydrogel-elastomer-based stretchable strain sensors within 5 *** method only requires a UV projector/lamp with photomasks;the chemicals are commercially available;the protocols for preparing the polymer precursors are friendly to users without chemistry ***,the manufacturing flexibility allows users to readily pattern the sensor circuit and attach the sensor to a 3D printed soft pneumatic actuator to enable strain sensing on the *** proposed approach paves a simple and versatile way to fabricate hydrogel-elastomer-based stretchable strain sensors and flexible electronic devices.

关键词： Ionically conductive hydrogel stretchable strain sensor projection lithography

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Pipe-finder: Adaptive, Lightweight Pipe Robot Integrating Origami Anisotropic Stiffness Structure

Pipe-finder: Adaptive, Lightweight Pipe Robot Integrating Or...

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IEEE International Conference on robotics and Biomimetics

作者： Yifei Chen Deyu Yang Ziyu Liu Boyu Yang Hongqiang Wang Shenzhen Key Laboratory of Intelligent Robotics and Flexible Manufacturing Systems Southern University of Science and Technology Shenzhen China Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and Technology Shenzhen China Southern Marine Science and Engineering Guangdong Laboratory Guangzhou China

Pipeline inspection poses challenges that require robots to navigate complex environments. However, existing pipeline robots with the rigid bodies often face limitations in terms of efficiency, flexibility, and adaptability considering the significant size variations and complex terrains in pipelines. This paper introduces a novel design of wheel pipeline robots that addresses these limitations by incorporating the Origami Anisotropic Stiffness Structure (OASS). Inspired by the desert iguana's skin, the OASS offers a unique combination of rigidity and flexibility in different directions, making it an ideal skeletal framework for the robot with only 146 g weight. By integrating the OASS with PLA and resin materials, we enhance the robot's support and enable it to effectively navigate diverse pipeline configurations. Experimental results demonstrate the robot's capability to maneuver through pipelines of different diameters, U-shaped turns, obstacles, and even vertical sections. This research provides a promising solution for inspection tasks in complex pipeline systems.

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Modeling and Experimental Characterization of Propeller-driven Capsule Endoscope Robot for Gastrointestinal Minimally Invasive Diagnosis

Modeling and Experimental Characterization of Propeller-driv...

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IEEE International Conference on Cyborg and Bionic systems (CBS)

作者： Weihao Wang Yi Zhang Chengzhi Hu Department of Mechanical and Energy Engineering Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Southern University of Science and Technology Shenzhen China Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and Technology Shenzhen China

Wireless capsule endoscopy robots are miniaturized robots that integrate camera, wireless communication, microcontroller, power supply, and other modules. In this paper, we study the modeling and experimental characterization of a propeller-driven capsule endoscopy robot (PCER). The profile of the propeller is challenging to design without detailed drawings because of the complex curved surfaces. The propeller design is achieved in the MIT open-source project OpenProp. The modeling of the propeller and the PCER shell are completed. We used the FLUENT fluid simulation toolkit to evaluate the hydrodynamic performance of the propeller and PCER shell. The thrust generated by the propeller is measured by experiment, and the resistance of PCER shell is measured by experiment following the fluid similarity law. The error between the simulation and the experiment results is within the allowable range, which proves that the hydrodynamic performance parameters of the micro-propeller and the PCER shell calculated by the simulation are reliable, and it provides a new method for the design and optimization of the PCER.

关键词： Wireless communication Solid modeling Fluids Spirals Propellers Endoscopes Propulsion

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Movement of bipedal robot based on Whole Body Control

Movement of bipedal robot based on Whole Body Control

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IEEE International Conference on Cyborg and Bionic systems (CBS)

作者： Zhen Wang Yuhan Chen Yan Bai Chengzhi Hu Wende Ke Department of Mechanical and Energy Engineering Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Southern University of Science and Technology Shenzhen China Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and Technology Shenzhen China

In order to make biped robot act more precisely and complicated, the method of linear quadratic regulator tracking center of mass of robot and the whole biped robot modeling process based on Whole Body Control algorithm are analyzed. Through the floating base dynamics function, friction cone model and QP formulation, the Roban robot squat is completed based on the drake simulation platform. It is proved that the control method is also effective on Roban robot.

关键词： Vibrations Torque Regulators Tracking Heuristic algorithms Process control Organ transplantation

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Development of a Compact Autonomous Propeller-driven Capsule Robot for Noninvasive Gastric Endoscopic Examination

Development of a Compact Autonomous Propeller-driven Capsule...

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IEEE International Conference on Cyborg and Bionic systems (CBS)

作者： Yi Zhang Zongze Li Wende Ke Chengzhi Hu Department of Mechanical and Energy Engineering Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Southern University of Science and Technology Shenzhen China Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and Technology Shenzhen China

Wireless capsule endoscope ro!bot is painless, safe, and efficient throughout the inspection procedure, which offers a promising prospect in the early diagnosis of digestive tract diseases. In this article, we propose a compact design of capsule endoscope robot actuated by micro propellers for noninvasive gastric endoscopic examination. First, the shell structure, electronic components, and internal circuit board system of propeller-driven capsule endoscope robot (PCER) are designed to improve the mobility in liquid environment. The PCER is integrated with wireless communication module, microcontroller, camera module, motor driver chips, and battery. Then the undesired interference of four coreless motors with the embedded magnetic sensor in the PCER is avoided. The attitude calculation of the PCER is achieved by using the Kalman filtering algorithm based on inertial measurement unit and three-axis magnetic sensor. The PCER is controlled via the XBOX joystick, and the real-time attitude information can be obtained and displayed to ease the operation. The experimental results demonstrate the reliability and superior performance of the system. The PCER can perform the calculation of its own attitude, fixed-point rotation, upward spiral motion, and horizontal circular movement. The PCER reduces the dependence on external manipulation equipment and makes the application of capsule robot more convenient and adequate for different types of diagnoses and treatments in the stomach.

关键词： Wireless communication Spirals Endoscopes Propellers Magnetic sensors Magnetic cores Magnetic liquids

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D3PRefiner: A Diffusion-based Denoise Method for 3D Human Pose Refinement

arXiv

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arXiv 2024年

作者： Yan, Danqi Gao, Qing Qian, Yuepeng Chen, Xinxing Fu, Chenglong Leng, Yuquan Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems the Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities China Department of Mechanical and Energy Engineering Southern University of Science and Technology Shenzhen518055 China School of Electronics and Communication Engineering Sun Yat-sen University Shenzhen518107 China

Three-dimensional (3D) human pose estimation using a monocular camera has gained increasing attention due to its ease of implementation and the abundance of data available from daily life. However, owing to the inherent depth ambiguity in images, the accuracy of existing monocular camera-based 3D pose estimation methods remains unsatisfactory, and the estimated 3D poses usually include much noise. By observing the histogram of this noise, we find each dimension of the noise follows a certain distribution, which indicates the possibility for a neural network to learn the mapping between noisy poses and ground truth poses. In this work, in order to obtain more accurate 3D poses, a Diffusion-based 3D Pose Refiner (D3PRefiner) is proposed to refine the output of any existing 3D pose estimator. We first introduce a conditional multivariate Gaussian distribution to model the distribution of noisy 3D poses, using paired 2D poses and noisy 3D poses as conditions to achieve greater accuracy. Additionally, we leverage the architecture of current diffusion models to convert the distribution of noisy 3D poses into ground truth 3D poses. To evaluate the effectiveness of the proposed method, two state-of-the-art sequence-to-sequence 3D pose estimators are used as basic 3D pose estimation models, and the proposed method is evaluated on different types of 2D poses and different lengths of the input sequence. Experimental results demonstrate the proposed architecture can significantly improve the performance of current sequence-to-sequence 3D pose estimators, with a reduction of at least 10.3% in the mean per joint position error (MPJPE) and at least 11.0% in the Procrustes MPJPE (P-MPJPE). Copyright © 2024, The Authors. All rights reserved.

关键词： Diffusion

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Development of a Vibration-driven Capsule Robot with Protruding Magnetic Bristles with Enhanced Adaptability in Wet and Dry Environments

Development of a Vibration-driven Capsule Robot with Protrud...

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IEEE International Conference on robotics and Biomimetics

作者： Yujie Zhang Tanyong Wei Shujing He Yuying Hong Chengzhi Hu Department of Mechanical and Energy Engineering Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Southern University of Science and Technology Shenzhen China Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and Technology Shenzhen China

Colonoscopy is a widely used method for diagnosing bowel cancers, requiring coordinated efforts from medical professionals due to its invasive nature. In contrast, miniature capsule robots, measuring just a few centimeters, offer a less invasive diagnostic option by integrating multiple functions. However, current capsule robots face challenges with complex designs, limited mobility, size, and cost, which hinder their adoption and reduce gastrointestinal disorder screening rates. To address these issues, we introduce the vibration-driven capsule robot (VCR) with magnetic protruding bristle structures. Four simple components (shell structure, electronic components, permanent magnet, and magnetic soft bristles) are designed to improve the robot’s mobility in dry and wet environments. The magnetic bristle structures are inspired by flexible organisms and enhance the robot’s adaptability. The robot is propelled by centrifugal force from a vibration motor, allowing efficient movement along the intestinal tract while protecting the patient’s lining. The fabrication process of the magnetic soft bristles has been refined to optimize material ratios and enhance the robot’s performance. The vibration motor’s output is analyzed using load cells to ensure efficiency. For precise path planning, an external permanent magnet (EPM) is applied to guide the capsule’s direction. Experiments confirm the VCR’s versatility, performing fluid linear and curved motions in different environments. These findings underscore the feasibility of the VCR as a potent tool for non-invasive, timely screening of gastrointestinal disorders.

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